CN103534514A - Unit type wave gear device - Google Patents
Unit type wave gear device Download PDFInfo
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- CN103534514A CN103534514A CN201180070898.4A CN201180070898A CN103534514A CN 103534514 A CN103534514 A CN 103534514A CN 201180070898 A CN201180070898 A CN 201180070898A CN 103534514 A CN103534514 A CN 103534514A
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- Prior art keywords
- mesosphere
- roller
- roller bearing
- track
- composite wave
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
- F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
- F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
- F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/55—Systems consisting of a plurality of bearings with rolling friction with intermediate floating or independently-driven rings rotating at reduced speed or with other differential ball or roller bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Rolling Contact Bearings (AREA)
- Mounting Of Bearings Or Others (AREA)
Abstract
One end of the unit housing (2) of a unit type wave gear device (1) is defined by a two-stage cross roller bearing (7). With the two-stage cross roller bearing (7) an inner cross roller bearing is formed by an inner ring (13), an intermediate ring (12), and inner rollers (17) inserted into an inner track (16), and an outer cross roller bearing is formed by an outer ring (11), the intermediate ring (12), and outer rollers (15) inserted into an outer track (14). A flexible externally-toothed gear (22) affixed to the intermediate ring (12) is rotatably supported by the unit housing (2) via the outer cross roller bearing, and an input shaft (4) affixed to the inner ring (13) and a wave generator (23) affixed to the input shaft (4) are rotatably supported by the intermediate ring (12) via the inner cross roller bearing. Thus, a unit-type wave gear device with which the number of components can be reduced and which can accept a large moment load can be implemented.
Description
Technical field
The present invention relates to a kind of number of components few and easily assembling, the composite wave gearing that can be connected with motor drive shaft from the either side of axial direction.
Background technique
As Wave gear device, be known in the composite wave gearing that is incorporated with fluctuation gear mechanism in shell, be disclosed in patent documentation 1,2.The disclosed composite wave gearing of these patent documentations is incorporated with the fluctuation gear mechanism of carnival hat type in the enclosure, above-mentioned shell by being configured in the first end plate and second end plate of the both sides of device axial direction, the crossed roller bearing being configured between this first end plate and the second end plate forms.In addition, device center is run through and the input shaft that extends at two end part respectively by ball bearing by the first end plate and the second end plate with rotation state support freely.
The disclosed composite wave gearing of patent documentation 1,2 the inner concentric shape of crossed roller bearing be incorporated with fluctuation gear mechanism.Therefore, can reduce the size of device axial direction, be conducive to the flattening of composite wave gearing.In addition, as crossed roller bearing, a kind of multi-stage cross roller bearing has been proposed in patent documentation 3.
Prior art document
Patent documentation
Patent documentation 1: Japanese patent laid-open 09-250608 communique
Patent documentation 2: Japanese patent laid-open 09-280326 communique
Patent documentation 3:WO2003/050428 book
Summary of the invention
Invent technical problem to be solved
At this, according to the difference of the purposes of composite wave gearing, sometimes compare with miniaturization, want to cut down number of components and to improve the requirement of assembling performance stronger.In addition, sometimes also need to accept the composite wave gearing of larger moment load.
The technical problem to be solved in the present invention is, proposition can meet the composite wave gearing of above-mentioned that requirement.
The technological means that technical solution problem adopts
In order to solve the problems of the technologies described above, in composite wave gearing of the present invention, utilization is the two-stage crossed roller bearing that concentric shape is formed with inner side crossed roller bearing and outside crossed roller bearing, and a square end portion of the axial direction of the sectional casing of this composite wave gearing is limited.In two-stage crossed roller bearing, utilize inner ring, the mesosphere of this two-stage crossed roller bearing and be inserted in a plurality of inboard roller in the inner track being formed between inner ring and mesosphere, form inner side crossed roller bearing, utilize outer ring, mesosphere and be inserted in a plurality of outboard roller in the outer side track being formed between outer ring and mesosphere, form outside crossed roller bearing.The flexible external tooth gear that is fixed on mesosphere supports in rotation mode freely by the outside crossed roller bearing formula shell that is combined, and the fluctuation producer that is fixed on the input shaft of inner ring and is fixed on this input shaft is supported in rotation mode freely by mesosphere by inner side crossed roller bearing.
That is,, when describing with reference to mode of execution described later, composite wave gearing of the present invention (1) is characterised in that, comprising: the sectional casing of tubular (2); Fluctuation gear mechanism (3), its with the inside of the coaxial state configuration of combinations thereof formula shell (2) at combinations thereof formula shell (2); And input shaft (4), its center by above-mentioned fluctuation gear mechanism (3) is run through, and with the state extension coaxial with this fluctuation gear mechanism (3), combinations thereof formula shell (2) consists of following part: cylindrical member (5); End plates (6), it is fixed on a side first end face (5a) of axis (1a) direction of above-mentioned cylindrical member (5); And two-stage crossed roller bearing (7), it is disposed at the position by the second end face (5b) side of the opposing party of above-mentioned axis (1a) direction of above-mentioned cylindrical member (5),
Above-mentioned two-stage crossed roller bearing (7) comprising: outer ring (11), and it is fixed on above-mentioned second end face (5b) of above-mentioned cylindrical member (5); Mesosphere (12), its with the inner side of above-mentioned outer ring (11) concentric state configuration in this outer ring (11); Inner ring (13), its with the inner side of the concentric state configuration of above-mentioned mesosphere (12) in this mesosphere (12); The outer side track of rectangular cross-section (14), it is formed between above-mentioned outer ring (11) and above-mentioned mesosphere (12); A plurality of outboard roller (15), it is inserted in above-mentioned outer side track (14) with the state rolling freely; The inner track of rectangular cross-section (16), it is formed between above-mentioned mesosphere (12) and above-mentioned inner ring (13); A plurality of inboard roller (17), it is inserted in above-mentioned inner track (16) with the state rolling freely, and above-mentioned fluctuation gear mechanism (3) comprising: circular rigidity internal-gear (21); Flexible external tooth gear (22), its with the inner side of the coaxial state configuration of above-mentioned rigidity internal-gear (21) at this rigidity internal-gear (21); Fluctuation producer (23), its with the inner side of the coaxial state configuration of above-mentioned flexible external tooth gear (22) at this flexible external tooth gear (22), above-mentioned flexible external tooth gear (22) comprising: flexible main part (22a), and it forms drum; Diaphragm (22b), its end by above-mentioned two-stage crossed roller bearing (7) side from aforementioned body portion (22a) expands to radial outside; The hub of rigidity (22c), it forms the toroidal that the outer periphery with this diaphragm (22b) form as one; And external tooth (22d), it is formed at the outer circumferential face part of the end by above-mentioned end plates (6) side of aforementioned body portion (22a), above-mentioned rigidity internal-gear (21) is fixed on above-mentioned cylindrical member (5), above-mentioned hub (22c) is fixed on above-mentioned mesosphere (12), above-mentioned fluctuation producer (23) is fixed on the above-mentioned input shaft (4) that the central part of this fluctuation producer (23) is run through and extend, and the shaft end (4a) by above-mentioned two-stage crossed roller bearing (7) side of above-mentioned input shaft (4) is fixed on above-mentioned inner ring (13).
At this, in composite wave gearing of the present invention, preferably the shaft end by end plates side of input shaft is set as through the central through bore of these end plates to outstanding laterally outstanding shaft end.In the situation that making end plate side for rotation input side, this outstanding shaft end is connected in to motor drive shaft, in the situation that make the two-stage crossed roller bearing side of end plate opposition side for rotation input side, the inner ring of this two-stage crossed roller bearing is connected in to motor drive shaft.
In addition, composite wave gearing of the present invention can form the hollow structure with the hollow portion that input shaft and inner ring is run through and extend.
Invention effect
Adopt composite wave gearing of the present invention, owing to utilizing inner side crossed roller bearing to support input shaft, therefore with utilizing two ball bearings, input shaft is supported, and utilize the composite wave gearing in the past that crossed roller bearing supports flexible external tooth gear to compare, can reduce part number of packages.In addition, carry out input shaft, flexible external tooth gear and cylindrical member to be assembled in respectively the operation of inner ring, mesosphere and the outer ring of the two-stage crossed roller bearing of assembling in advance, needn't carry out packing ball bearing into operation between two end plates and input shaft, so assembling performance is also improved.In addition, owing to utilizing crossed roller bearing to support being fixed with the input shaft of fluctuation producer, therefore can accept and the equal above moment load of the situation of in the past utilizing like that two ball bearings to support above-mentioned input shaft.
Accompanying drawing explanation
Fig. 1 is the longitudinal section representing having applied the mode of execution of composite wave gearing of the present invention.
Fig. 2 means end view drawing and the longitudinal section of the two-stage crossed roller bearing of Fig. 1.
Embodiment
Below, with reference to Fig. 1, to having applied the mode of execution of composite wave gearing of the present invention, describe.Composite wave gearing 1 comprises: the sectional casing 2 of tubular; Fluctuation gear mechanism 3, it packs the inside of combinations thereof formula shell 2 into; Input shaft 4, it is to run through the center of this fluctuation gear mechanism 3 and extend with the coaxial state of above-mentioned fluctuation gear mechanism 3.Sectional casing 2 consists of following part: cylindrical member 5; Discoid end plates 6, it is fixed on circular end face 5a of the side of the axis 1a direction of above-mentioned cylindrical member 5; Two-stage crossed roller bearing 7, it is configured in the position of the circular end face 5b side by the opposing party of axis 1a direction of cylindrical member 5.
Two-stage crossed roller bearing 7 comprises: outer ring 11, and it is fixed on the circular end face 5b of the cylindrical member 5 of sectional casing 2; Mesosphere 12, its with the inner side of the concentric state configuration in above-mentioned outer ring 11 in this outer ring 11; Inner ring 13, its with the inner side of the concentric state configuration of above-mentioned mesosphere 12 at this mesosphere 12.Between outer ring 11 and mesosphere 12, be formed with the circular outer side track 14 of rectangular cross-section, at this, a plurality of outboard roller 15 state intersected with each other with central axis and that roll is freely inserted in this outer side track 14.Utilize these outer rings 11, mesosphere 12, outer side track 14 and outboard roller 15 to form outside crossed roller bearing.Equally, be formed with the circular inner track 16 of rectangular cross-section between mesosphere 12 and inner ring 13, at this, a plurality of inboard roller 17 state intersected with each other with central axis and that roll is freely inserted in this inner track 16.Utilize these mesospheres 12, inner ring 13, inner track 16 and inboard roller 17 to form inner side crossed roller bearing.
Fluctuation producer 23 is embedded in the part that is formed with external tooth 22d of flexible external tooth gear 22, and fluctuation producer 23 comprises: the rigidity latch 23a of cartouche, and it engages and is fixed on input shaft 4 with the state coaxial with input shaft 4; Waveform bearing 23b, the outer circumferential face of itself and above-mentioned rigidity latch 23a is chimeric.Inner ring and the outer ring of waveform bearing 23b have flexible.The part that is formed with external tooth 22d of flexible external tooth gear 22 deflects into ellipse, is positioned at the part of external tooth 22d of two end portions and the engagement of the part of the internal tooth 21a of rigidity internal-gear 21 of this oval major axis.
In the fluctuation gear mechanism 3 of this structure, rigidity internal-gear 21 engages the cylindrical member 5 that is fixed on sectional casing 2.Cylindrical member 5 forms following sectional shape: the position of the outer circumferential side of cylindrical member 5 forms wide cut part 5c, in the inner circumferential side of this wide cut part 5c, be formed with the narrower middle width part 5d of width, in this, the inner circumferential side of width part 5d is formed with the narrower 5e of part in a narrow margin of width.The circular end face 21b of rigidity internal-gear 21 engages and is fixed on the circular end face of part 5e in a narrow margin.The circular end joined of the circular hub 22c of flexible external tooth gear 22 is fixed on circular step surface 12a, and this circular step surface 12a is formed on the outer circumferential side of circular end face 12g of inner side of the mesosphere 12 of two-stage crossed roller bearing 7.In addition, as mentioned above, fluctuation producer 23 engages the outer circumferential face 4a that is fixed on input shaft 4.
At this, the shaft end by end plates 6 sides of input shaft 4 forms through the central through bore 6a of these end plates 6 outstanding laterally outstanding shaft end 4d, on the circular end face of this outstanding shaft end 4d, with constant angle intervals, be formed with the tapped hole 4e for being connected with rotation input links such as motor drive shafts.In addition, on the circular end face in the outside of the inner ring 13 of the two-stage crossed roller bearing 7 of outstanding shaft end 4d opposition side, also with constant angle intervals, be formed with the tapped hole 13d for being connected with the rotation input link such as motor drive shaft.
On the other hand, on the circular end face 11b in the outside of the outer ring 11 of two-stage crossed roller bearing 7, also with constant angle intervals, be formed with the tapped hole 11c for being connected and fixed with rotation outlet side member (load side member) or fixed side member.In addition, on the circular end face 12b in the outside of mesosphere 12, equally also with constant angle intervals, be formed with the tapped hole 12c for being connected and fixed with rotation outlet side member (load side member) or fixed side member.
In addition, in end plates 6 sides, utilize oil seal 31 between the outer circumferential face of the outstanding shaft end 4d of input shaft 4 and the inner peripheral surface of end plates 6, to seal.In the two-stage crossed roller bearing 7 of end plates 6 opposition sides, utilize oil seal 32 by sealing between the outer ring of this two-stage crossed roller bearing 7 11 and mesosphere 12, utilize oil seal 33 by sealing between mesosphere 12 and inner ring 13.
In the composite wave gearing 1 of this structure, the rotation input link (not shown) that the outstanding shaft end 4d of utilization and input shaft 4 is connected and fixed, drives input shaft 4 to be rotated.Or utilize inner ring 13 and the rotation input link (not shown) that input shaft 4 is connected and fixed by outstanding shaft end 4d opposition side, drive input shaft to be rotated.When input shaft 4 rotation, the fluctuation producer 23 that is fixed on this input shaft 4 also rotates with these input shaft 4 one.When 23 rotation of fluctuation producer, the flexible external tooth gear 22 of engagement along the circumferential direction moves under the effect of fluctuation producer 23 with the engaging position of rigidity internal-gear 21.Consequently, between these two gears, there is the relative rotation corresponding with the poor 2n of the number of teeth (n is positive integer) of two gears.Rigidity internal-gear 21 is being fixed as in non-rotary situation, and 22 rotations of flexible external tooth gear, will slow down to rotate by the mesosphere 12 being connected and fixed with this flexible external tooth gear 22 and export.Flexible external tooth gear 22 is being fixed as in non-rotary situation, and rigidity internal-gear 21 rotation, will slow down to rotate by the outer ring 11 being connected and fixed with this rigidity internal-gear 21 and export.
At this, be concentric shape multistage dispose in the multi-stage cross roller bearing of structure of crossed roller bearing, there are the following problems: the mesosphere generation preload distortion in the outer ring of the inner ring of the crossed roller bearing as outside and the crossed roller bearing of inner side performance function, is difficult to the smooth rotation of the crossed roller bearing in inside guaranteeing and outside.But this routine two-stage crossed roller bearing 7 is configured to the structure of the following stated, therefore can address this is that.
With reference to Fig. 2, describe, in this routine two-stage crossed roller bearing 7, the roller dimension of inner side crossed roller bearing is the size of inboard roller 17, than the roller dimension of outside crossed roller bearing, is that the size of outboard roller 15 is little.In addition, the roller centre L2 of inboard roller 17 is located at the position of having departed from the direction of extending along the axis 1a of these crossed roller bearings with respect to the roller centre L1 of outboard roller 15.
Like this, in two-stage crossed roller bearing 7, the roller dimension of the inner side crossed roller bearing of path is little, the roller dimension of the outside crossed roller bearing in large footpath is large, therefore under the state that two-stage crossed roller bearing 7 is assembled, can make to act on from inner side and outside the preload stress equilibrium of mesosphere 12.In addition, owing to making outside the roller centre L1 of crossed roller bearing and the roller centre L2 of inner side crossed roller bearing be positioned at the position of having departed from along the direction of both central axis, therefore, compare with the situation that roller centre L1, L2 are radially in the same plane, can reduce the preload distortion occurring at mesosphere 12.Consequently, can, to the preload distortion of the mesosphere 12 under the state after 7 assemblings of two-stage crossed roller bearing is suppressed, guarantee the smooth rotation of each crossed roller bearing.
At this, the roller centre L2 of inboard roller 17 is with respect to the bias Δ of the roller centre L1 of outboard roller 15, is preferably set as the value in 1/2 scope of 1/2～this track width w (16) of track width w (16) of inner track 16 and the additive value of the track width w (14) of outer side track 14.When bias is than the value hour within the scope of this, cannot suppress fully the preload distortion of mesosphere, therefore possibly cannot guarantee the smooth rotation of crossed roller bearing.In addition, even if bias is more than the value within the scope of this, can not make to be further improved by departing from the preload distortion inhibition of the mesosphere obtaining, the width dimensions of the central axial direction of two-stage crossed roller bearing increases, for the flattening of two-stage crossed roller bearing, undesirable.
w(16)/2<Δ<{w(16)+w(14)}/2
In this example, for the preload distortion to mesosphere 12 effectively suppresses, and make 7 flattenings of two-stage crossed roller bearing, make bias Δ be outer side track 14 track width w (14) 1/2, L1 compares with roller centre, roller centre L2 is positioned at partially rely on the position of circular end face 12g side.
In addition, in this example, for the preload distortion to mesosphere 12 prevents reliably, by the thickness t radially (12) from circular inner peripheral surface 12d to circular circumference face 12e of this mesosphere 12, be set as the more than 2 times of thickness t radially (11) from circular inner peripheral surface 11d to circular circumference face 11e of outer ring 11.
In addition, in this example, the circular end face of the inner side of outer ring 11, mesosphere 12 and inner ring 13 is all positioned at roughly on same plane, outer side track 14 is positioned at the side near the inner side end of outer ring 11 and mesosphere 12, and inner track 16 is also positioned at the side near the inner side end of mesosphere 12 and inner ring 13.And, at the inner side end of mesosphere 12 and inner ring 13, be formed with patchhole 12f, the 13f that roller inserts use, utilize stopper 18,19 that these patchholes 12f, 13f are sealed.Like this, make outer side track 14 and inner track 16 in the direction of the central axis 1a of crossed roller bearing, be partial to the side near the end face of roller inserting side.Thereby, can improve the assembling performance of two-stage crossed roller bearing 7.
Claims (8)
1. a composite wave gearing (1), is characterized in that,
This composite wave gearing (1) comprising:
The sectional casing of tubular (2);
Fluctuation gear mechanism (3), its with the inside of the coaxial state configuration of described sectional casing (2) in described sectional casing (2); And
Input shaft (4), its center by described fluctuation gear mechanism (3) is run through, and with the state extension coaxial with this fluctuation gear mechanism (3),
Described sectional casing (2) consists of following part: cylindrical member (5); End plates (6), it is fixed on a side first end face (5a) of axis (1a) direction of described cylindrical member (5); And two-stage crossed roller bearing (7), it is disposed at the position by the second end face (5b) side of the opposing party of described axis (1a) direction of described cylindrical member (5),
Described two-stage crossed roller bearing (7) comprising: outer ring (11), and it is fixed on described second end face (5b) of described cylindrical member (5); Mesosphere (12), its with the inner side of described outer ring (11) concentric state configuration in this outer ring (11); Inner ring (13), its with the inner side of the concentric state configuration of described mesosphere (12) in this mesosphere (12); The outer side track of rectangular cross-section (14), it is formed between described outer ring (11) and described mesosphere (12); A plurality of outboard roller (15), it is inserted in described outer side track (14) with the state rolling freely; The inner track of rectangular cross-section (16), it is formed between described mesosphere (12) and described inner ring (13); And a plurality of inboard roller (17), it is inserted in described inner track (16) with the state rolling freely,
Described fluctuation gear mechanism (3) comprising: circular rigidity internal-gear (21); Flexible external tooth gear (22), its with the inner side of the coaxial state configuration of described rigidity internal-gear (21) at this rigidity internal-gear (21); Fluctuation producer (23), its with the inner side of the coaxial state configuration of described flexible external tooth gear (22) at this flexible external tooth gear (22), described flexible external tooth gear (22) comprising: flexible main part (22a), and it forms drum; Diaphragm (22b), its end by described two-stage crossed roller bearing (7) side from described main part (22a) expands to radial outside; The hub of rigidity (22c), it forms the toroidal that the outer periphery with described diaphragm (22b) are integrally formed; And external tooth (22d), it is formed at the outer circumferential face part of the end by described end plates (6) side of described main part (22a), described rigidity internal-gear (21) is fixed on described cylindrical member (5), described hub (22c) is fixed on described mesosphere (12), described fluctuation producer (23) is fixed on the described input shaft (4) that the central part of this fluctuation producer (23) is run through and extend
The shaft end (4b) by described two-stage crossed roller bearing (7) side of described input shaft (4) is fixed on described inner ring (13).
2. composite wave gearing as claimed in claim 1 (1), is characterized in that,
The shaft end by described end plates (6) side of described input shaft (4) is the outstanding shaft end (4d) of giving prominence to laterally through the central through bore (6a) of these end plates (6),
Described outstanding shaft end (4d) and described inner ring (13) can be affixed to rotation input link side.
3. composite wave gearing as claimed in claim 2 (1), is characterized in that,
This composite wave gearing (1) has the hollow portion (4c, 13c) that described input shaft (4) and described inner ring (13) is run through and extend.
4. composite wave gearing as claimed in claim 1 (1), is characterized in that,
The roller dimension of described inboard roller (17) is less than the roller dimension of described outboard roller (15),
The roller centre (L2) of described inboard roller (17) is located at the position of having departed from the direction of extending along described axis (1a) with respect to the roller centre (L1) of described outboard roller (15).
5. composite wave gearing as claimed in claim 4 (1), is characterized in that,
The roller centre (L2) of described inboard roller (17) is the value in 1/2 the scope of additive value of 1/2 track width to this track width and described outer side track (14) of track width of described inner track (16) with respect to the bias (Δ) of the roller centre (L1) of described outboard roller (15).
6. composite wave gearing as claimed in claim 5 (1), is characterized in that,
Described bias (Δ) be described outer side track (14) track width 1/2.
7. composite wave gearing as claimed in claim 4 (1), is characterized in that,
The radial thickness from circular inner peripheral surface to circular circumference face of described mesosphere (12) is at least 2 times of the radial thickness from circular inner peripheral surface to circular circumference face of described outer ring (11).
8. the composite wave gearing (1) as described in any one in claim 4～7, is characterized in that,
Described outer side track (14) and described inner track (16) are formed on the position near a square end face of described outer ring (11), described mesosphere (12) and described inner ring (13),
On the described end face of described mesosphere (12) and described inner ring (13), be formed with respectively the patchhole (12f, 13f) that roller inserts use, utilize stopper (18,19) by these patchhole sealings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/002720 WO2012157022A1 (en) | 2011-05-16 | 2011-05-16 | Unit type wave gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103534514A true CN103534514A (en) | 2014-01-22 |
| CN103534514B CN103534514B (en) | 2016-02-17 |
Family
ID=47176393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180070898.4A Active CN103534514B (en) | 2011-05-16 | 2011-05-16 | Composite wave gearing |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US8875598B2 (en) |
| JP (1) | JP5774691B2 (en) |
| KR (1) | KR101786906B1 (en) |
| CN (1) | CN103534514B (en) |
| DE (1) | DE112011105253T5 (en) |
| TW (1) | TWI550212B (en) |
| WO (1) | WO2012157022A1 (en) |
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- 2011-05-16 US US14/112,996 patent/US8875598B2/en active Active
- 2011-05-16 DE DE112011105253.7T patent/DE112011105253T5/en active Pending
- 2011-05-16 WO PCT/JP2011/002720 patent/WO2012157022A1/en active Application Filing
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| CN107407392A (en) * | 2015-03-23 | 2017-11-28 | 谐波传动股份公司 | With driven bearing and the transmission device mounting kit of harmonic drive thereon can be supported on |
| CN107407392B (en) * | 2015-03-23 | 2019-10-11 | 哈默纳科传动股份公司 | Transmission device mounting kit |
| US10876614B2 (en) | 2015-03-23 | 2020-12-29 | Harmonic Drive Ag | Transmission component set having an output bearing and a harmonic drive transmission which can be mounted thereon |
| CN105952871A (en) * | 2016-05-23 | 2016-09-21 | 深圳市汇川技术股份有限公司 | Reducer capable of bearing axial force and motor |
| CN111164333A (en) * | 2017-09-20 | 2020-05-15 | 住友重机械工业株式会社 | Flexible engagement type gear device |
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| CN114513087A (en) * | 2020-11-16 | 2022-05-17 | 住友重机械工业株式会社 | Gear motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012157022A1 (en) | 2012-11-22 |
| KR101786906B1 (en) | 2017-10-18 |
| US20140047938A1 (en) | 2014-02-20 |
| TWI550212B (en) | 2016-09-21 |
| CN103534514B (en) | 2016-02-17 |
| KR20140027312A (en) | 2014-03-06 |
| JP5774691B2 (en) | 2015-09-09 |
| TW201248036A (en) | 2012-12-01 |
| JPWO2012157022A1 (en) | 2014-07-31 |
| US8875598B2 (en) | 2014-11-04 |
| DE112011105253T5 (en) | 2014-02-13 |
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